Hi Dragan,
The S12ZVM family was designed for 12V motor control applications.
The highest voltage for GDU is 26.6V (Note: Operation beyond 20V is limited to 1 hour over lifetime of the device).
When we add 12V for high N-channel MOSFET and margins, we are close to breakdown voltage for this 180nm technology.
So, you will need external gate driver for 24V motor control application.
Additionally, the typical load dump voltage for 24 systems is 60V – it means, that you also need overvoltage protection circuit.
There is application note AN5082 MagniV in 24V Applications:
http://www.nxp.com/files/microcontrollers/doc/app_note/AN5082.pdf
This application note mentions several topics which must be considered when we want use S12ZVM MCU for 24V applications.
I hope it helps you.
Best regards
Radek